<div class="title" i18n="defaultChangelogHead"></div>

<span>2022.06.11 - 10.8.0 - BetaFlight</span>
<ul>
    <li>Key Features:
        <ul>
            <li>
                <b>Presets</b> - A fantastic, comprehensive new preset system! Whether a whoop, a twig, a 5" racer, a freestyle setup, or an X-class, you can now easily apply a great tune for your quad, out of the box. Presets also exist for radio setups, vtx configurations, and so on. Users can choose from 'official' Betaflight Presets and 'community' presets. Both are checked by Betaflight developers. Access to external Preset repositories is also provided, but take care when using these, since Betaflight has no control over their content.
            </li>
            <li>
                <b>New PID based tuning sliders</b> - Whether you need to tweak the tune or build it from scratch, we now have simpler, more comprehensive, firmware based tuning sliders in the Configurator. These are active by default. Slider positions are stored with the quad, and can be modified via the OSD or LUA. New expert sliders allow fine-tuning of Pitch:Roll balance, DMax:Dmin, and I relative to P.
            </li>
            <li>
                <b>Multi dynamic notch</b> - We have a completely rewritten, much improved, SDFT based multi-dynamic notches. More than one resonant peak can be tracked at the same time, more accurately and more quickly than before, with low latency cost. This allows for lower overall low pass filtering and better performance.
            </li>
            <li>
                <b>PT3 based RC smoothing</b> - RC smoothing has been completely revised, and is now entirely filter based, using optimised PT3 (third order) smoothing. RC Smoothing now has the ideal filter shape applied with no overshoot and very smooth response. The auto smoothing value provides anything from low-latency to exceptional buttery cinematic smoothness.
            </li>
            <li>
                <b>RPM crossfading</b> - we now can smoothly disable overlapping RPM filtering notches entirely at low RPM. This greatly reduces filter delay at low throttle. You'll hear an immediate difference in the sound of the motors, and experience less propwash around low throttle.
            </li>
            <li>
                <b>PT2 and PT3 lowpass filtering options</b> - The old biquad lowpass filter option is no longer available on Gyro, due to delay, overshoot and resonance issues. Previous Gyro biquad lowpass users should change to PT2, but more likely will find that, in 4.3, single or dual first order filtering is optimal for Gyro. Biquad filtering is still available for D, where a harder cut than PT2 can be useful.
            </li>
            <li>
                <b>Feedforward jitter reduction</b> - 4.3 introduces feedforward jitter reduction, which is an improvement on feedforward transition. It delivers a 'dynamic transition' effect to the feedforward, where you can get silky smooth responses while making slow stick inputs, and immediate, snappy feedforward responses to quick inputs. Usually, Transition is not required any more. Jitter reduction provides the Transition type effect, but at any stick angle. Jitter reduction also attenuates RC link noise during slow movements, especially for the newer higher rate Rx links. Racers will tend to use lower jitter reduction values than Freestylers, since that will attenuate link noise without delaying stick responses.
            </li>
            <li>
                <b>Linear and Dynamic mixer options</b> - These are alternatives to the stock Betaflight mixer code. The dynamic option may result in less aggressive bump and landing responses for level mode or cinematic flights.
            </li>
            <li>RC smoothing updates to better work with higher speed connections</li>
            <li>Motor remap, direction adjustment, and validation of output in motors tab</li>
            <li>Target autodetection during flashing</li>
            <li>Configurator tab re-ordering and other UI improvements</li>
            <li>OSD Preview</li>
            <li>Detect and select serial port</li>
            <li>
                <b>So much more...</b> - The above are merely some of the enhancements and improvements. It has been awhile so 4.3 as a release is huge so make sure you check out the complete release notes at <a href="https://betaflight.com">betaflight.com</a> and the <a href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes">tuning guide Wiki</a>.
            </li>
        </ul>
    </li>
</ul>

<span>2020.04.27 - 10.7.0 - BetaFlight</span>
<ul>
    <li>Features:
        <ul>
            <li>improved target selection in the firmware flasher tab</li>
            <li>improved PID tuning and the tuning sliders</li>
            <li>added a button to bind SPI RX / newer Spektrum RX from within configurator</li>
            <li>added warning messages about potential configuration issues</li>
        </ul>
    </li>
    <li>Fixes:
        <ul>
            <li>fixed links and contents on the landing page</li>
            <li>various other UI fixes</li>
        </ul>
    </li>
    <li>New GUI support for the following firmware features:
        <ul>
            <li>added rates type selection</li>
            <li>added support for more settings in PID profiles</li>
            <li>added support for more settings for GPS</li>
        </ul>
    </li>
    <li>New Languages:
        <ul>
            <li>Euskera (Basque)</li>
            <li>Portugu&ecirc;s Brasileiro (Brasilian Portugese)</li>
            <li>polski (Polish)</li>
            <li>Magyar (Hungarian)</li>
            <li>&#32321;&#39636;&#20013;&#25991; (Traditional Chinese)</li>
        </ul>
    </li>
</ul>

<span>2019.09.15 - 10.6.0 - BetaFlight</span>
<ul>
    <li>Features:
        <ul>
            <li>added client-side autocomplete to CLI</li>
            <li>added voltage and amperage scale calibration based on meter readings</li>
            <li>added dark mode</li>
            <li>changed the OSD elements to be listed in alphabetical order</li>
            <li>added 'Video Transmitter' tab to configure a VTX</li>
            <li>added support for flashing Unified Targets with custom board configurations</li>
            <li>added sliders for PID / filter tuning</li>
        </ul>
    </li>
    <li>Fixes:
        <ul>
            <li>fixed the flashing progress bar</li>
            <li>fixed the PID tab layout</li>
            <li>various other UI fixes</li>
        </ul>
    </li>
    <li>New GUI support for the following firmware features:
        <ul>
            <li>added visualisation of rate limit settings to the PID tuning graph</li>
            <li>improved the arming disabled flags display</li>
            <li>added iterm_relax cutoff</li>
            <li>added debug modes</li>
            <li>added custom gyro alignment</li>
            <li>added Dshot telemetry information display to the motors tab</li>
            <li>added RPM based filtering</li>
            <li>new OSD display / statistics elements</li>
        </ul>
    </li>
    <li>New Languages:
        <ul>
            <li>Galego (Galician)</li>
            <li>Hrvatski (Croatian)</li>
        </ul>
    </li>
</ul>

<span>2019.04.13 - 10.5.1 - BetaFlight</span>
<ul>
    <li>Fixes:
        <ul>
            <li>fixed flashing on MacOS</li>
            <li>updated Spanish translation</li>
        </ul>
    </li>
</ul>

<span>2019.04.10 - 10.5.0 - BetaFlight</span>
<ul>
    <li>Fixes:
        <ul>
            <li>fixed header bar wrapping on small screens</li>
            <li>fixed the PID tab layout</li>
            <li>various other UI fixes</li>
        </ul>
    </li>
    <li>New GUI support for the following firmware features:
        <ul>
            <li>OSD profile configuration / selection</li>
            <li>extended logic (AND, coupling of modes) for Modes tab</li>
            <li>GPS rescue</li>
            <li>D min</li>
            <li>integrated yaw</li>
            <li>dynamic gyro and D Term low pass filters</li>
            <li>multi gyro configuration</li>
            <li>throttle limit</li>
            <li>new OSD display / statistics elements</li>
        </ul>
    </li>
    <li>Improvements:
        <ul>
            <li>direct access to firmware flasher from the header bar</li>
            <li>switched GPS tab from Google Maps to OpenStreetMap</li>
            <li>'Reset Output' and 'Copy To Clipboard' buttons and coloured error messages in the CLI tab</li>
            <li>check selected device before rebooting into mass storage device mode</li>
            <li>improved drag / drop for OSD elements</li>
        </ul>
    </li>
    <li>New Languages:
        <ul>
            <li>Svenska (Swedish)</li>
            <li>Русский язык (Russian)</li>
            <li>Bahasa Indonesia (Indonesian)</li>
        </ul>
    </li>
</ul>

<span>2018.08.15 - 10.4.1 - BetaFlight</span>
<ul>
    <li>fixed bug in Chrome web app version</li>
</ul>

<span>2018.08.14 - 10.4.0 - BetaFlight</span>
<ul>
    <li>fixed backup / restore</li>
    <li>fixed problems with some elements in OSD</li>
    <li>fixed problems with wrong settings displayed when Dshot is selected</li>
    <li>fixed display of GPS altitude</li>
    <li>fixed Adjustments tab</li>
    <li>various other UI fixes</li>
    <li>feed forward PID control</li>
    <li>acro trainer</li>
    <li>throttle boost</li>
    <li>absolute control</li>
    <li>anti gravity</li>
    <li>RC smoothing</li>
    <li>added support downloading / flashing development / maintenance builds</li>
    <li>added reopening of last active tab on reconnect</li>
    <li>added support for hiding unused modes in modes tab</li>
    <li>added 'Vision' font to OSD</li>
    <li>improved support for custom boot logos</li>
    <li>added statistics collection</li>
    <li>added file type descriptions for open / save dialogs</li>
    <li>added setting of the flight controller's real time clock when connected to the configurator</li>
</ul>

<span>2018.07.27 - 10.3.1 - BetaFlight</span>
<ul>
    <li>Fixed problem with configurator crashing on startup when running on systems with German or Portugese language settings</li>
    <li>Fixed bug causing the gyro lowpass filter to be always stored as disabled when using older firmware versions</li>
</ul>

<span>2018.06.23 - 10.3.0 - BetaFlight</span>
<ul>
	<li>added support for customised OSD boot logo</li>
	<li>fixed MSP_RX controls</li>
	<li>added current / consumption information into the 'Motors' tab</li>
	<li>added translations for Japanese and Portugese</li>
	<li>added support for moving the artificial horizon / crosshairs to OSD, and other OSD improvements</li>
	<li>added local caching for downloaded firmware files</li>
	<li>added support for tab completion for commands in the CLI</li>
	<li>added support for downloading / installing development builds / builds for special version branches (e.g. AKK/RDQ support) from the CI server</li>
	<li>changed the installation to be uncompressed to achieve faster startup</li>
</ul>

<span>2018.02.28 - 10.2.0 - BetaFlight</span>
<ul>
	<li>added support for 6 rateprofiles</li>
	<li>removed setting to disallow disarming on throttle above low</li>
        <li>added disabling of runaway takeoff prevention</li>
        <li>added peripheral device entry 'Benewake LIDAR'</li>
        <li>added Dshot beacon configuration</li>
        <li>added markdown processing for GitHub release notes</li>
        <li>made language user selectable in the application</li>
        <li>added translations for Chinese, Italian, and Latvian</li>
        <li>added installers for RedHat linux</li>
        <li>added markdown processing for GitHub release notes. Lots of fixes to the standalone applications</li>
</ul>

<span>2018.01.16 - 10.1.0 - BetaFlight</span>
<ul>
    <li>Lots of fixes to the standalone applications</li>
    <li>Fixed CLI hanging on exit</li>
    <li>Fixed stick position indicator in the rates curve</li>
    <li>Fixed restoring of window size / position on restart</li>
    <li>Added support for OSD temperature readout</li>
    <li>Added translations for Catalan, German, English, Spanish, French, and Korean</li>
    <li>Added installers for Windows and (debian) linux</li>
    <li>Changed external links to open in a new window</li>
    <li>Changed the number of 'arming disabled' reasons to match the number of beeps</li>
</ul>

<span>2017.12.06 - 10.0.0 - BetaFlight</span>
<ul>
    <li>Fixed beeper configuration</li>
    <li>Fixed filter configuration enabling / disabling</li>
    <li>Added support for serial RX / SPI RX protocols</li>
    <li>Added support for OSD warnings and other OSD elements</li>
    <li>Added standalone application support</li>
    <li>Added support for automatically assigning modes based on stick movement</li>
    <li>Added support for firmware version display in top bar</li>
    <li>Documentation updates</li>
</ul>

<span>2017.08.06 - 3.2.1 - BetaFlight</span>
<ul>
    <li>Fix full chip erase</li>
    <li>Fixed mac OS block size limitation</li>
    <li>Fix for device setting via onboard logging tab</li>
    <li>Add copy button for PID and rate profiles</li>
    <li>Fix for switching between rate and PID profiles</li>    
</ul>
<span>2017.08.01 - 3.2.0 - BetaFlight</span>
<ul>
    <li>Fixed inconsistent version numbering.</li>
    <li>Fixed blackbox compatibility with RC2</li>
    <li>Fixed version display in configurator</li>    
</ul>
<span>2017.07.29 - 3.1.3 - BetaFlight</span>
<ul>
    <li>Fixed incompatibility issues with BF 3.1.x</li>
</ul>
<span>2017.07.28 - 3.1.1 - BetaFlight</span>
<ul>
    <li>Changed donation page to english</li>
</ul>
<span>2016.03.09 - 3.1.0 - BetaFlight</span>
<ul>
    <li>Version consistency</li>
</ul>
<span>2016.03.09 - 1.9.4 - BetaFlight</span>
<ul>
    <li>Fix broken backup/restore</li>
    <li>changed suggested filename for backup to include craft name,</li>
</ul>
<span>2016.02.23 - 1.9.3 - BetaFlight</span>
<ul>
    <li>Fix broken serial rx selection</li>
    <li>Renew support links</li>
    <li>Added feature SDCARD</li>
</ul>
<span>2016.02.22 - 1.9.2 - BetaFlight</span>
<ul>
    <li>Added FPV angle mix</li>
    <li>Fix for CRC errors for bb downlaods</li>
    <li>New Fonts aded</li>
    <li>Future TCP/IP connection support</li>
</ul>
<span>2016.01.30 - 1.9.1 - BetaFlight</span>
<ul>
    <li>Increase filter range</li>
    <li>Add new Fonts</li>
    <li>Add IBUS telemetry</li>
    <li>Hide DSHOT1200 (it is still available)</li>
    <li>Denom Fixes</li>
</ul>
<span>2016.01.21 - 1.9.0 - BetaFlight</span>
<ul>
    <li>Remove throttle percentage for PWM</li>
    <li>Some cleanups</li>
    <li>Fix saving level parameters</li>
</ul>
<span>2016.01.16 - 1.8.9 - BetaFlight</span>
<ul>
    <li>Added Tramp Vtx support</li>
</ul>
<span>2016.01.15 - 1.8.8 - BetaFlight</span>
<ul>
    <li>Added level sensitivity</li>
    <li>Added level limit</li>    
</ul>
<span>2016.01.11 - 1.8.7 - BetaFlight</span>
<ul>
    <li>Added DSHOT1200</li>
</ul>
<span>2016.01.09 - 1.8.6 - BetaFlight</span>
<ul>
    <li>Added new 3.1 parameters</li>
    <li>Fixed VBAT saving bug for pre 3.1 versions</li>
</ul>
<span>2016.10.25 - 1.8.5 - BetaFlight</span>
<ul>
    <li>Simplified RX selection in config tab</li>
    <li>Saving logs as BFL extension</li>
</ul>
<span>2016.10.25 - 1.8.4 - BetaFlight</span>
<ul>
    <li>Added DSHOT300</li>
    <li>Support for more UARTS</li>
</ul>
<span>2016.10.13 - 1.8.3 - BetaFlight</span>
<ul>
    <li>Added DSHOT600 and DSHOT150</li>
</ul>
<span>2016.10.12 - 1.8.2 - BetaFlight</span>
<ul>
    <li>More OSD parameters conform 3.0.1</li>
    <li>Changed naming convention for PID relaxation parameter</li>
    <li>Added second notch</li>
</ul>
<span>2016.09.15 - 1.8.1 - BetaFlight</span>
<ul>
    <li>Support for jumbo frames for faster flash download</li>
    <li>Many small visual fixes</li>
    <li>Improved rate tool visualisation</li>
</ul>
<span>2016.09.07 - 1.8.0 - BetaFlight</span>
<ul>
    <li>Pterm setpoint is now only P weight for more direct stick feel on super expo curve. Supported from RC14</li>
    <li>RC deadband is now added to rate tool</li>
    <li>Minor bugfixes for older versions</li>
    <li>Move Rc interpolation to Receiver tab</li>
</ul>
<span>2016.09.07 - 1.7.9 - BetaFlight</span>
<ul>
    <li>Fix representation of rc expo above rc rate of 2.0</li>
</ul>
<span>2016.09.06 - 1.7.8 - BetaFlight</span>
<ul>
    <li>Change rates to super rates</li>
    <li>Fix curve representation for 3.0.0</li>
    <li>Move max deg/sec to pid columns</li>
</ul>
<span>2016.08.25 - 1.7.7 - BetaFlight</span>
<ul>
    <li>Fix dterm setpoint range</li>
</ul>
<span>2016.08.24 - 1.7.6 - BetaFlight</span>
<ul>
    <li>Fix Vbat bug</li>
    <li>Increase D setpoint weight range</li>
</ul>
<span>2016.08.23 - 1.7.5 - BetaFlight</span>
<ul>
    <li>Added separate Filter Tab</li>
</ul>
<span>2016.08.21 - 1.7.4 - BetaFlight</span>
<ul>
    <li>Fix Airmode Threshold bug</li>
</ul>
<span>2016.08.20 - 1.7.3 - BetaFlight</span>
<ul>
    <li>Prepared new filters</li>
    <li>Fixed Auto update of configurator</li>
    <li>Cleanups</li>
</ul>
<span>2016.08.09 - 1.7.2 - BetaFlight</span>
<ul>
    <li>Bugfix in deactivation of super expo</li>
    <li>Replaced yaw D by yaw jump prevention strength</li>
    <li>Made RC interpolation dynamic</li>
    <li>Fixed configurator from breaking 3D deadband</li>
    <li>Added yaw RC rate as adjustment</li>
</ul>
<span>2016.08.05 - 1.7.1 - BetaFlight</span>
<ul>
    <li>Bugfix in setting wrong airmode threshold</li>
    <li>Support for 3.0.0 firmware</li>
    <li>Added new PID parameters</li>
</ul>
<span>2016.08.02 - 1.7.0 - BetaFlight</span>
<ul>
    <li>Support for 2.9.1 patch</li>
    <li>Support for 3.0.0 development firmware</li>
    <li>Many cleanups</li>
    <li>Added CPU percentage to status bar</li>
    <li>Moved VBAT PID compensation to PID tab</li>
    <li>Hide unused tabs</li>
    <li>Represent real blackbox log rate instead of denom</li>
</ul>
<span>2016.07.18 - 1.6.4 - BetaFlight</span>
<ul>
    <li>Many Cleanups</li>
    <li>Backup restore fixes</li>
    <li>Added Vbat Compensation</li>
    <li>Preparations for 3.0.0 development firmware</li>
</ul>
<span>2016.07.07 - 1.6.3 - BetaFlight</span>
<ul>
    <li>Fixed Rate Scaling for 3D model</li>
    <li>Moved Super Expo Feature to PID tab</li>
    <li>Some cleanups and fixes</li>
</ul>
<span>2016.07.05 - 1.6.2 - BetaFlight</span>
<ul>
    <li>Added rate numbers to rate calculator</li>
    <li>More user friendly firmware flasher</li>
    <li>Added 3D model to RX tab</li>
</ul>
<span>2016.07.04 - 1.6.1 - BetaFlight</span>
<ul>
    <li>Fixed saving level PIDs</li>
</ul>
<span>2016.07.04 - 1.6.0 - BetaFlight</span>
<ul>
    <li>Added Rate Tool</li>
    <li>Add extra pwm protocol for 3.0</li>
    <li>Many Cleanups</li>
    <li>Added more tips</li>
</ul>
<span>2016.06.27 - 1.5 - BetaFlight</span>
<ul>
    <li>Fix some saving issues</li>
</ul>
<span>2016.06.26 - 1.4 - BetaFlight</span>
<ul>
    <li>Fix saving bug in 1.3 for 2.9 firmware</li>
    <li>Added tuning tips</li>
    <li>Added AIRMODE feature</li>
    <li>Added SUPEREXPO_RATES feature</li>
</ul>
<span>2016.06.26 - 1.3 - BetaFlight</span>
<ul>
    <li>Backwards compatible with old Betaflight versions</li>
    <li>Added more advanced tuning parameters</li>
    <li>Added disabling/enabling sensors</li>
    <li>Made graph to reflect the changes better(Still not optimal)</li>
</ul>
<span>2016.06.21 - 1.2 - BetaFlight</span>
<ul>
    <li>Added gyro sync and pid denom configuration instead of looptime.</li>
    <li>Added rc_rate_yaw in PID tuning tab.</li>
    <li>Added ESC PWM Configuration.</li>
</ul>
<span>2016.06.20 - 1.1 - BetaFlight</span>
<ul>
    <li>Cosmetic changes</li>
</ul>
<span>2016.06.20 - 1.0 - BetaFlight</span>
<ul>
    <li>Initial Release Configurator.</li>
    <li>Rebranded from Cleanflight.</li>
</ul>
